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编辑can_common.h

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Mr.one
2026-07-16 14:55:33 +08:00
parent ed15125946
commit d8d8cd255c
1 changed files with 1 additions and 31 deletions
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panda/board/drivers/can_common.h
+1 -31
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@@ -34,9 +34,6 @@ extern bool can_loopback;
bool ignition_can = false;
uint32_t ignition_can_cnt = 0U;
// Mazda 0x202 RPM-based ignition timeout
uint32_t mazda_ignition_rpm_cnt = 0U;
#define ALL_CAN_SILENT 0xFF
#define ALL_CAN_LIVE 0
@@ -228,32 +225,12 @@ void ignition_can_hook(CANPacket_t *to_push) {
ignition_can_cnt = 0U;
}
// Mazda engine RPM based ignition (0x202, 100Hz)
if ((addr == 0x202) && (len == 8)) {
int rpm_raw = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
mazda_ignition_rpm_cnt = 0U;
if (rpm_raw > 200) { // > 200 RPM = engine running
ignition_can = true;
ignition_can_cnt = 0U;
}
}
} else if (bus == 1) {
// Mazda 2019 exception
if ((addr == 0x274) && (len == 8)) {
ignition_can = (GET_BYTE(to_push, 5) & 0x4U) != 0U;
ignition_can_cnt = 0U;
}
// Mazda engine RPM based ignition (0x202, 100Hz) - bus 1 redundancy
if ((addr == 0x202) && (len == 8)) {
int rpm_raw = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
mazda_ignition_rpm_cnt = 0U;
if (rpm_raw > 200) { // > 200 RPM = engine running
ignition_can = true;
ignition_can_cnt = 0U;
}
}
} else if (bus == 2) {
// GM exception, SDGM cars have this message on bus 2
if ((addr == 0x1F1) && (len == 8)) {
@@ -261,14 +238,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
ignition_can_cnt = 0U;
}
}
// Mazda 0x202 RPM timeout: clear ignition_can if no 0x202 seen for ~3s
if (mazda_ignition_rpm_cnt > 3U) {
ignition_can = false;
}
mazda_ignition_rpm_cnt++;
}
bool can_tx_check_min_slots_free(uint32_t min) {
@@ -321,4 +291,4 @@ bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len) {
}
}
return ret;
}
}