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编辑can_common.h

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Mr.one
2026-07-16 14:46:00 +08:00
parent 6fae47bc53
commit ed15125946
1 changed files with 11 additions and 0 deletions
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panda/board/drivers/can_common.h
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@@ -34,6 +34,9 @@ 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
@@ -228,6 +231,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
// 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;
@@ -244,6 +248,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
// 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;
@@ -258,6 +263,12 @@ void ignition_can_hook(CANPacket_t *to_push) {
}
}
// 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) {