CAN driver cleanup (#2276)

* it's all the same thing

* not live

* less macro

* lil more

* bool

* lil more

Author: adeebshihadeh

board/can.h

@@ -1,7 +1,24 @@
 #pragma once
-#include "can_declarations.h"
 
-static const uint8_t PANDA_CAN_CNT = 3U;
-static const uint8_t PANDA_BUS_CNT = 3U;
+#define PANDA_CAN_CNT 3U
 
 static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
+
+#define CANPACKET_HEAD_SIZE 6U  // non-data portion of CANPacket_t
+#define CANPACKET_DATA_SIZE_MAX 64U
+
+// bump this when changing the CAN packet
+#define CAN_PACKET_VERSION 4
+typedef struct {
+  unsigned char fd : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;  // lookup length with dlc_to_len
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char checksum;
+  unsigned char data[CANPACKET_DATA_SIZE_MAX];
+} __attribute__((packed, aligned(4))) CANPacket_t;
+
+#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])

board/can_declarations.h

@@ -5,15 +5,13 @@ uint32_t safety_rx_invalid = 0;
 uint32_t tx_buffer_overflow = 0;
 uint32_t rx_buffer_overflow = 0;
 
-can_health_t can_health[CAN_HEALTH_ARRAY_SIZE] = {{0}, {0}, {0}};
+can_health_t can_health[PANDA_CAN_CNT] = {{0}, {0}, {0}};
 
 // Ignition detected from CAN meessages
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
 
-int can_live = 0;
-int pending_can_live = 0;
-int can_silent = ALL_CAN_SILENT;
+bool can_silent = true;
 bool can_loopback = false;
 
 // ********************* instantiate queues *********************
@@ -39,7 +37,7 @@ can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
 
 // FIXME:
 // cppcheck-suppress misra-c2012-9.3
-can_ring *can_queues[CAN_QUEUES_ARRAY_SIZE] = {&can_tx1_q, &can_tx2_q, &can_tx3_q};
+can_ring *can_queues[PANDA_CAN_CNT] = {&can_tx1_q, &can_tx2_q, &can_tx3_q};
 
 // ********************* interrupt safe queue *********************
 bool can_pop(can_ring *q, CANPacket_t *elem) {
@@ -130,11 +128,10 @@ void can_clear(can_ring *q) {
 
 // Helpers
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
-bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE] = {
+bus_config_t bus_config[PANDA_CAN_CNT] = {
   { .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
   { .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
   { .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
-  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
 };
 
 void can_init_all(void) {
@@ -158,20 +155,18 @@ void can_set_forwarding(uint8_t from, uint8_t to) {
 #endif
 
 void ignition_can_hook(CANPacket_t *msg) {
-  int bus = GET_BUS(msg);
-  if (bus == 0) {
-    int addr = GET_ADDR(msg);
+  if (msg->bus == 0U) {
     int len = GET_LEN(msg);
 
     // GM exception
-    if ((addr == 0x1F1) && (len == 8)) {
+    if ((msg->addr == 0x1F1U) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
       ignition_can = (msg->data[0] & 0x2U) != 0U;
       ignition_can_cnt = 0U;
     }
 
     // Rivian R1S/T GEN1 exception
-    if ((addr == 0x152) && (len == 8)) {
+    if ((msg->addr == 0x152U) && (len == 8)) {
       // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
       int counter = msg->data[1] & 0xFU;  // max is only 14
 
@@ -185,7 +180,7 @@ void ignition_can_hook(CANPacket_t *msg) {
     }
 
     // Tesla Model 3/Y exception
-    if ((addr == 0x221) && (len == 8)) {
+    if ((msg->addr == 0x221U) && (len == 8)) {
       // 0x221 overlaps with Rivian which has random data on byte 0
       int counter = msg->data[6] >> 4;
 
@@ -200,7 +195,7 @@ void ignition_can_hook(CANPacket_t *msg) {
     }
 
     // Mazda exception
-    if ((addr == 0x9E) && (len == 8)) {
+    if ((msg->addr == 0x9EU) && (len == 8)) {
       ignition_can = (msg->data[0] >> 5) == 0x6U;
       ignition_can_cnt = 0U;
     }
@@ -234,7 +229,7 @@ bool can_check_checksum(CANPacket_t *packet) {
 
 void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
   if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
-    if (bus_number < PANDA_BUS_CNT) {
+    if (bus_number < PANDA_CAN_CNT) {
       // add CAN packet to send queue
       tx_buffer_overflow += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
       process_can(CAN_NUM_FROM_BUS_NUM(bus_number));

board/drivers/can_common.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include "board/can.h"
+
 typedef struct {
   volatile uint32_t w_ptr;
   volatile uint32_t r_ptr;
@@ -24,28 +26,21 @@ 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];
+extern can_health_t can_health[PANDA_CAN_CNT];
 
 // 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_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];
+extern can_ring *can_queues[PANDA_CAN_CNT];
 
 // 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)
@@ -55,20 +50,7 @@ extern can_ring *can_queues[CAN_QUEUES_ARRAY_SIZE];
 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];
+extern bus_config_t bus_config[PANDA_CAN_CNT];
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)

board/drivers/can_common_declarations.h

@@ -1,6 +1,6 @@
 #include "fdcan_declarations.h"
 
-FDCAN_GlobalTypeDef *cans[CANS_ARRAY_SIZE] = {FDCAN1, FDCAN2, FDCAN3};
+FDCAN_GlobalTypeDef *cans[PANDA_CAN_CNT] = {FDCAN1, FDCAN2, FDCAN3};
 
 static bool can_set_speed(uint8_t can_number) {
   bool ret = true;
@@ -13,7 +13,7 @@ static bool can_set_speed(uint8_t can_number) {
     bus_config[bus_number].can_data_speed,
     bus_config[bus_number].canfd_non_iso,
     can_loopback,
-    (unsigned int)(can_silent) & (1U << can_number)
+    can_silent
   );
   return ret;
 }
@@ -32,7 +32,7 @@ void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number) {
 }
 
 void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
-  uint8_t can_irq_number[3][2] = {
+  uint8_t can_irq_number[PANDA_CAN_CNT][2] = {
     { FDCAN1_IT0_IRQn, FDCAN1_IT1_IRQn },
     { FDCAN2_IT0_IRQn, FDCAN2_IT1_IRQn },
     { FDCAN3_IT0_IRQn, FDCAN3_IT1_IRQn },
@@ -63,7 +63,6 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
   can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
 
-
   if (ir_reg != 0U) {
     // Clear error interrupts
     FDCANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L);
@@ -158,17 +157,13 @@ void can_rx(uint8_t can_number) {
 
   // Clear all new messages from Rx FIFO 0
   FDCANx->IR |= FDCAN_IR_RF0N;
-  while((FDCANx->RXF0S & FDCAN_RXF0S_F0FL) != 0U) {
+  while ((FDCANx->RXF0S & FDCAN_RXF0S_F0FL) != 0U) {
     can_health[can_number].total_rx_cnt += 1U;
-
-    // can is live
-    pending_can_live = 1;
-
     // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
     uint32_t rx_fifo_idx = (uint8_t)((FDCANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3FU);
 
     // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
-    if((FDCANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
+    if ((FDCANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
       rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U);
       can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost
     }

board/drivers/fdcan.h

@@ -1,26 +1,19 @@
 #pragma once
 
-// IRQs: FDCAN1_IT0, FDCAN1_IT1
-//       FDCAN2_IT0, FDCAN2_IT1
-//       FDCAN3_IT0, FDCAN3_IT1
+#include "board/can.h"
 
 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];
+extern FDCAN_GlobalTypeDef *cans[PANDA_CAN_CNT];
 
 #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);

board/drivers/fdcan_declarations.h

@@ -11,20 +11,10 @@
 #define FAULT_INTERRUPT_RATE_CAN_2          (1UL << 3)
 #define FAULT_INTERRUPT_RATE_CAN_3          (1UL << 4)
 #define FAULT_INTERRUPT_RATE_TACH           (1UL << 5)
-#define FAULT_INTERRUPT_RATE_GMLAN          (1UL << 6)   // deprecated
 #define FAULT_INTERRUPT_RATE_INTERRUPTS     (1UL << 7)
 #define FAULT_INTERRUPT_RATE_SPI_DMA        (1UL << 8)
-#define FAULT_INTERRUPT_RATE_SPI_CS         (1UL << 9)
-#define FAULT_INTERRUPT_RATE_UART_1         (1UL << 10)
-#define FAULT_INTERRUPT_RATE_UART_2         (1UL << 11)
-#define FAULT_INTERRUPT_RATE_UART_3         (1UL << 12)
-#define FAULT_INTERRUPT_RATE_UART_5         (1UL << 13)
-#define FAULT_INTERRUPT_RATE_UART_DMA       (1UL << 14)
 #define FAULT_INTERRUPT_RATE_USB            (1UL << 15)
-#define FAULT_INTERRUPT_RATE_TIM1           (1UL << 16)
-#define FAULT_INTERRUPT_RATE_TIM3           (1UL << 17)
 #define FAULT_REGISTER_DIVERGENT            (1UL << 18)
-#define FAULT_INTERRUPT_RATE_KLINE_INIT     (1UL << 19)
 #define FAULT_INTERRUPT_RATE_CLOCK_SOURCE   (1UL << 20)
 #define FAULT_INTERRUPT_RATE_TICK           (1UL << 21)
 #define FAULT_INTERRUPT_RATE_EXTI           (1UL << 22)

board/faults_declarations.h

@@ -175,7 +175,7 @@ int main(void) {
   print("**** INTERRUPTS ON ****\n");
   enable_interrupts();
 
-  can_silent = ALL_CAN_LIVE;
+  can_silent = false;
   set_safety_hooks(SAFETY_ALLOUTPUT, 0U);
 
   can_init_all();

board/jungle/main.c

@@ -189,7 +189,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xde: set can bitrate
     case 0xde:
-      if ((req->param1 < PANDA_BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {
+      if ((req->param1 < PANDA_CAN_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {
         bus_config[req->param1].can_speed = req->param2;
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
         UNUSED(ret);
@@ -212,7 +212,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       if (req->param1 == 0xFFFFU) {
         print("Clearing CAN Rx queue\n");
         can_clear(&can_rx_q);
-      } else if (req->param1 < PANDA_BUS_CNT) {
+      } else if (req->param1 < PANDA_CAN_CNT) {
         print("Clearing CAN Tx queue\n");
         can_clear(can_queues[req->param1]);
       } else {
@@ -225,7 +225,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xf5: Set CAN silent mode
     case 0xf5:
-      can_silent = (req->param1 > 0U) ? ALL_CAN_SILENT : ALL_CAN_LIVE;
+      can_silent = (req->param1 > 0U);
       can_init_all();
       break;
     // **** 0xf7: enable/disable header pin by number

board/jungle/main_comms.h

@@ -55,12 +55,12 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
     case SAFETY_SILENT:
       set_intercept_relay(false, false);
       current_board->set_can_mode(CAN_MODE_NORMAL);
-      can_silent = ALL_CAN_SILENT;
+      can_silent = true;
       break;
     case SAFETY_NOOUTPUT:
       set_intercept_relay(false, false);
       current_board->set_can_mode(CAN_MODE_NORMAL);
-      can_silent = ALL_CAN_LIVE;
+      can_silent = false;
       break;
     case SAFETY_ELM327:
       set_intercept_relay(false, false);
@@ -75,14 +75,14 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
       } else {
         current_board->set_can_mode(CAN_MODE_NORMAL);
       }
-      can_silent = ALL_CAN_LIVE;
+      can_silent = false;
       break;
     default:
       set_intercept_relay(true, false);
       heartbeat_counter = 0U;
       heartbeat_lost = false;
       current_board->set_can_mode(CAN_MODE_NORMAL);
-      can_silent = ALL_CAN_LIVE;
+      can_silent = false;
       break;
   }
   can_init_all();
@@ -143,14 +143,7 @@ static void tick_handler(void) {
 
     // decimated to 1Hz
     if (loop_counter == 0U) {
-      can_live = pending_can_live;
-
       //puth(usart1_dma); print(" "); puth(DMA2_Stream5->M0AR); print(" "); puth(DMA2_Stream5->NDTR); print("\n");
-
-      // reset this every 16th pass
-      if ((uptime_cnt & 0xFU) == 0U) {
-        pending_can_live = 0;
-      }
       #ifdef DEBUG
         print("** blink ");
         print("rx:"); puth4(can_rx_q.r_ptr); print("-"); puth4(can_rx_q.w_ptr); print("  ");