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use CANPacket definition from opendbc

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This commit is contained in:
Adeeb Shihadeh
2025-09-28 13:37:35 -07:00
parent 2e691e3e62
commit 48c776a3df
1 changed files with 1 additions and 20 deletions
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21
board/can.h
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@@ -2,23 +2,4 @@
#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])
#include "opendbc/safety/can.h"