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46 Commits

Author SHA1 Message Date
Adeeb Shihadeh
ad377ced81 single header for all drivers (#2335) 
* drivers.h, claude's try

* include from root

* fix mac

* organize a lil more
 2026-02-15 16:33:58 -08:00
Adeeb Shihadeh
7973ba4492 CAN driver cleanup (#2276) 
* it's all the same thing

* not live

* less macro

* lil more

* bool

* lil more
 2025-09-10 20:00:41 -07:00
Robbe Derks
998ac9d5d8 Init cleanup: global LED driver (#2170) 
* wip

* fix init

* fix libpanda

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
 2025-03-14 18:01:45 +01:00
Shane Smiskol
3ff97305c5 fdcan: rate limit CAN core reset (#2137) 
* rate limit can core resets

* overflow protection

* U
 2025-01-30 13:21:18 -08:00
Willem Melching
4a11d52e07 Control over FD flag of CAN messages (#2085) 
* Control over FD flag of CAN messages

* misra
 2024-11-21 11:04:09 -08:00
Maxime Desroches
022d1c69a1 misra8.4: board/drivers (#2025) 
* drivers

* cleanup bootkick

* bxcan cleanup

* fan cleanup

* harness cleanup

* interrupts cleanup

* registers cleanup

* simple_watchdog cleanup

* spi cleanup

* h7 drivers

* no include for now

* conflict

* reduce scope

* cleanup
 2024-09-20 14:30:45 -07:00
Shane Smiskol
8587ae3fc0 drivers: log can core reset when switching multiplexing (#1972) 
fdcan: log lost tx messages when resetting can core for multiplexing
 2024-08-26 17:56:46 -07:00
Adeeb Shihadeh
418fca3583 enable misra-config checks (#1879) 
* mostly done

* fix rest of misra-config

* do other two in next pr
 2024-03-24 12:10:37 -07:00
Jason Young
96a3099398 fix forwarded bus logging for CAN-FD hardware (#1884) 2024-02-24 10:03:45 -08:00
Adeeb Shihadeh
93a06f1257 remove HW GMLAN support (#1848) 2024-02-03 23:18:33 -08:00
Ruben Medina
7ab3fcf5d2 enable misra-c2012-10.7 (#1804) 
* enable misra-c2012-10.7

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2024-01-16 16:52:36 -08:00
Ruben Medina
8c2b50fa2f enable misra-c2012-10.1 (#1803) 2024-01-15 21:14:52 -08:00
Hoang Bui
817d68f6a6 enable misra-c2012-10.4 (#1796) 
* enable misrac-10.4

* changes

* cleaner
 2024-01-13 15:49:56 -08:00
Igor Biletskyy
394b61cd16 H7: reset CAN core on bus off state (#1615) 
* init

* misra

* merge
 2023-09-06 09:50:13 -07:00
Igor Biletskyy
b47b8259ef unify CAN/FDCAN odjects naming (#1596) 
* init

* happy MISRA
 2023-08-21 16:09:31 -07:00
Adeeb Shihadeh
d7120be904 panda jungle (#1547) 
* mv jungle

* match pedal style

* fix linter

* fix fw path

* fix paths

* safety!
 2023-08-03 23:55:13 -07:00
Igor Biletskyy
a9a3227008 can_health: remove enter and exit critical calls from health updater (#1513) 
init
 2023-07-14 19:36:04 -07:00
Igor Biletskyy
ad9ec716ac H7: CAN core reset on no ACK and high transmit error counter (#1502) 
* init

* comment
 2023-07-14 19:00:43 -07:00
Igor Biletskyy
a35e9a1edb CAN health: add IRQ call and core reset counters (#1453) 
* initial

* old method

* comment
 2023-06-28 14:40:00 -07:00
Igor Biletskyy
5889e3784f H7: fix FDCAN_IR register check (#1480) 
* init

* typo

* misra

* leftover
 2023-06-21 18:56:10 -07:00
Igor Biletskyy
9d56e80390 Change can_health request method (#1472) 
* init

* fix typo

* remove tx lost as fake and add rx lsot
 2023-06-20 12:29:20 -07:00
Igor Biletskyy
3a7a0e0bae H7: fix lockup on disconnected bus (#1431) 
* fix h7 lockup

* love MISRA!

* EW and EP isn't actual errors

* cleaner

* typo

* oops

* increase error limit before reset
 2023-06-13 14:34:15 -07:00
Adeeb Shihadeh
bf2c007103 H7: fix CAN RX delay (#1446) 2023-06-06 18:48:19 -07:00
Adeeb Shihadeh
52f96bac68 spi: nack on can tx endpoint if buffer is full (#1426) 
* spi: nack on can tx endpoint if buffer is full

* handle in python lib

* fix timeout

* fix timeout

* fix linter

* cleanup

* fix

---------

Co-authored-by: Comma Device <device@comma.ai>
 2023-05-19 22:43:34 -07:00
Igor Biletskyy
622106d7d4 Revert "H7: fix lockup on disconnected bus" (#1430) 
Revert "H7: fix lockup on disconnected bus (#1410)"

This reverts commit 03435947bb.
 2023-05-18 13:54:30 -07:00
Igor Biletskyy
03435947bb H7: fix lockup on disconnected bus (#1410) 
* fix h7 lockup

* love MISRA!

* EW and EP isn't actual errors
 2023-05-12 19:20:42 -07:00
Igor Biletskyy
0117ff9d13 H7: Rx FIFO lost counter (#1345) 
* fifo rx lost counter

* add comment
 2023-04-13 17:37:48 -07:00
Igor Biletskyy
0832d65347 Fix CAN message corruption on H7 under high load (#1342) 
* fix RX FIFO corruption

* Add checksum to CANFD test data

* cleaner and MISRA

* nah

* oops

* fix test
 2023-04-12 11:07:58 -07:00
Adeeb Shihadeh
85cc70d4aa safety: only pass addr to fwd hook (#1339) 2023-04-08 16:45:59 -07:00
Robbe Derks
11d90f9e78 No more magic for the can chunks (#1191) 
* no more magic

* bump version

* no need for this

* comment cleanup

* add comms_can_reset tests

* we can't ensure this for compatibility reasons

* add CANPacket_t checksum
 2023-01-13 10:59:58 -08:00
Adeeb Shihadeh
e6f62a62aa rename puts to avoid conflict with stdio.h (#1174) 
* rename puts to avoid conflict with stdio.h

* better name
 2022-11-29 22:55:10 -08:00
Greg Hogan
2f3e2825e5 CAN-FD non-ISO support (#1082) 
CAN FD non-ISO support
 2022-10-12 15:28:20 -07:00
Igor Biletskyy
f029c99440 health packet: fix confusing variable names (#1068) 
* fix naming

* different buffer overflows

* naming
 2022-09-15 13:08:46 -07:00
Igor Biletskyy
0eef8cf333 CAN: health message for each CAN module (#1067) 
* initial can health pkt

* MISRA: variable scope

* MISRA 10.4

* typo

* add total_fwd_cnt

* check size of can_health_t

* improve

* comment

* that's better

* move

* add health check to tests

* why?

* ...

* revert later

* meh

* Revert "meh"

This reverts commit 0eb8432194.

* Revert "revert later"

This reverts commit 2d98957a8f.

* adjust test
 2022-09-15 13:04:10 -07:00
Igor Biletskyy
1b210a8974 H7: remove manual bus off handling (#1062) 
remove this
 2022-09-09 15:24:19 -07:00
Willem Melching
36c62afa0c Kia EV6 (#905) 
* block lkas

* taco time

* local changes

* start

* tx checks

* counter + vehicle moving

* support big can fd

* check crc

* add torque to rx checks

* tests

* little more

* little more

* get some misra coverage

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-05-19 15:59:58 -07:00
Igor Biletskyy
860e5a4d21 Red Panda: auto switching to CAN FD with BRS (#868) 
* add canfd autoenable

* add check to tests

* fix default speeds

* add autoswitch test
 2022-03-07 14:25:19 -08:00
Igor Biletskyy
8435bda1d2 CAN FD: adjust bit timing settings to SAE specifications J2284-4 and J2284-5 (#861) 
* try that

* revert to SAE and remove TDC

* add support for speed < 250kbps
 2022-02-24 14:09:13 -08:00
Igor Biletskyy
ca67da626f Fix MISRA violations 10.1 and 10.4 (#796) 
* misra 10.1

* misra 10.4

* misra 10.4 in usb_protocol.h

* don't cast
 2021-12-01 14:13:38 -08:00
Igor Biletskyy
c8b48ec23a Enable CAN FD support (#772) 
* enable CAN FD

* ...
 2021-11-15 16:27:16 -08:00
Igor Biletskyy
a0ba812dac minor typo in bxcan.h and fdcan.h (#780) 2021-11-15 10:59:20 -08:00
Igor Biletskyy
ae26b75d7b CAN_FIFOMailBox to CANPacket struct + USB dynamic packet size (#739) 
* Squashed commits, no cleanup

* Few fixes

* No init = garbage

* Only receive with new canpacket

* Add send with canpacket

* Revert "Add send with canpacket"

This reverts commit 7d06686ddd6d447c714b5289d31af24403d36931.

* Packet must be aligned to word, or bad performance

* Cleaner

* Fix tests

* Tests...

* MISRA 10.4

* More MISRA

* libpandasafety_py

* cffi

* even more tests...

* typo

* ...

* ...

* ...

* Slight cleanup

* MISRA 6.1

* MISRA 17.7

* Bug in bxcan + even style

* MISRA 10.1

* Revert "MISRA 10.1"

This reverts commit 404ae7fcc39556f80f528de9015702e69f4ea0a5.

* ...

* MISRA 10.1 and 10.4 suppress until next PR

* MISRA 20.1

* ...

* test_honda

* ...

* ...

* test_toyota

* test_volkswagen_mqb

* test_volkswagen_pq

* Sketchy thing...

* Revert "Sketchy thing..."

This reverts commit 3b2e5715bdc1954f7b7b3b7469ba3d0eaa06bdf9.

* remove comment

* bxcan extended address bug

* Concept, experimental dynamic usb packet size

* increase each buffer to 10240 bytes

* raise python bulk read/write limits

* ...

* Move packet size to start

* Experimental send, stream-like

* New receive test, stream-like

* cleanup

* cleanup + rebase fixes

* MISRA

* Extra receive method, stream-like, commented out

* type change

* Revert back to buffer for send, stream commented

* forgot ZLP

* lower buffer, add rx failsafe

* ... remove ZLP

* return ZLP back

* Add tx checks to panda fw

* TX stream with counter

* fix counter overflow

* 13 free slots should be enough

* limit tx usb packet

* ...

* Revert max_bulk_msg doubling

* python lib improve speed

* Stream with counter for RX, dirty, needs cleanup

* Increase chunk length to 4096 bytes

* cleanup fdcan.h

* cleanup __init__.py

* MISRA 12.1

* MISRA 10.8

* remove non-streaming usb functions

* more main.c cleanup

* MISRA 15.6

* MISRA 15.5

* MISRA 18.4 and suppress objectIndex

* handling usb pakcets > 63bytes, naming and cleanup

* Cleanup old from tests and update CANPacket_t struct

* Switch to 4 bit DLC instead of 6 bit length

* ops)

* ...

* pylint

* receive python buffer increase

* USB increase receive packet len

* tweak buffers

* No need for so high limits

* MISRA 20.1 workaround

* performance tweaks

* cleanup, dlc to data_len_code naming

* main.c naming

* comments and cleanup for main.c usb

* clean py lib

* pylint

* do not discard good rx messages on stream fail

* cleanups

* naming

* remove bitstruct lib and lower tx limit

* bitstruct lefovers

* fix bug in VW test

* remove adjusting data size and assert on wrong len

* ...

* test new memcpy before merging

* Revert "test new memcpy before merging"

This reverts commit 399465a264835061adabdd785718c4b6fc18c267.

* macros for to/fromuint8_t array

* MISRA hates me!

* tests.c include macros instead

* move CANPacket to can_definitions.h

* vw_pq python test fix

* new memcpy test, REMOVE

* check without alignment

* revert macros for uint8 arrays

* Revert "revert macros for uint8 arrays"

This reverts commit 581a9db735a42d0d68200bd270d87a8fd34e43fe.

* check assert

* Revert "check assert"

This reverts commit 9e970d029a50597a1718b2bb0260196c050fd77f.

* one more variation

* Revert "one more variation"

This reverts commit f6c0528b7ac7e125750dc0d9445c7ce97f6954b5.

* what about read performance

* Revert "what about read performance"

This reverts commit d2610f90958a816fe7f1822157a84f85e97d9249.

* check struct alignment to word

* check for aligned memcpy again

* cleanup

* add CANPacket structure diagram

* update CANPacket and add USB packet struct

* bugfix + refactoring of EP1

* move dlc_to_len to header

* missed include

* typo...

* MISRA

* fk

* lower MAX_CAN_MSGS_PER_BULK_TRANSFER

* bump CAN_PACKET_VERSION to 2

* bump python lib CAN_PACKET_VERSION to 2

* rename parse_can_buffer to unpack_can_buffer

* CANPacket_t const fields

* Revert "CANPacket_t const fields"

This reverts commit cf91c035b7706a14e317550c5f0501ae3fce7c70.

* test.c relative path

* cleanup

* move macros to safety_declarations

* Refactor pack/unpack funcs and add unittest

* usb_protocol.h

* oops

* Update .github/workflows/test.yaml

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* remove print from unittest

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-11-12 16:36:34 -08:00
Igor Biletskyy
76c7191b19 refactor bus settings into bus_config struct (#773) 
* refactor bus settings into bus_config struct
 2021-11-11 13:26:53 -08:00
Adeeb Shihadeh
1b0295a3ef remove USB command for bus forwarding (#749) 2021-10-28 23:40:11 -07:00
Willem Melching
fb8f452d68 Try resuming outep3 on can buffer clear (#716) 
* try resuming outep3 on can buffer clear

* simplify

* more cleanup

Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
 2021-09-08 10:59:00 -07:00
Igor Biletskyy
ad90646001 Support for STM32H7 and Red Panda (#694) 
* H7 drivers

* Include H7 into the code

* fix flash write for H7

* get serial from flasher.h from F4 and H7

* flash.sh and recover.sh for gen3

* add set_data_speed for BRS CAN FD

* build all fws

* gen3 to panda lib

* gen3 name in scons project

* disable fd can and brs

* gen3 to CI tests

* jenkins fix for new tests and build_all

* fix pedal test

* pedal in panda tests again...

* cleanup llfdcan.h

* cleanup clock.h

* Add LDORDY bit check instead of delay

* missing define in stm32h735xx.h lib

* board_id helper

* enable debug detection again

* clean gpio inits

* fix board_id helper, make cleaner

* comment MCUs in stm lib for faster misra

* target MCU

* misra-5.5

* improve headers and misra speed

* cleanup CI tests

* change naming from gen3 to h7

* readable if statement

* cleanup llusb.h

* only cycle one transceifer in bus-off

* move unused funcs to common header

* bus_off_err reset

* misra 10.4 fdcan

* extern to can_data_speed variable

* limit can_data_speed array size to 3

* reinit fd can on data speed change

* Improve test with ELM327 and extaddr check

* bugfix for fdcan

* panda python config naming

* abstracted init request in llfdcan

* misra fdcan

* Improve llusb.h for H7
 2021-08-02 20:26:15 -07:00