board struct: add has_canfd (commaai#1072)

* add * gate this * and this * forgot white
budney · Sep 17, 2022 · fd226de · fd226de
1 parent 59ede3f
commit fd226de
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Showing 11 changed files with 13 additions and 1 deletion.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -187,6 +187,7 @@ const board board_black = {
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
+  .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
   .init = black_init,

diff --git a/board/boards/board_declarations.h b/board/boards/board_declarations.h
@@ -21,6 +21,7 @@ struct board {
   const bool has_hw_gmlan;
   const bool has_obd;
   const bool has_lin;
+  const bool has_canfd;
   const bool has_rtc_battery;
   const uint16_t fan_max_rpm;
   board_init init;

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -202,6 +202,7 @@ const board board_dos = {
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
+  .has_canfd = false,
   .has_rtc_battery = true,
   .fan_max_rpm = 6500U,
   .init = dos_init,

diff --git a/board/boards/grey.h b/board/boards/grey.h
@@ -41,6 +41,7 @@ const board board_grey = {
   .has_hw_gmlan = true,
   .has_obd = false,
   .has_lin = true,
+  .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
   .init = grey_init,

diff --git a/board/boards/pedal.h b/board/boards/pedal.h
@@ -79,6 +79,7 @@ const board board_pedal = {
   .has_hw_gmlan = false,
   .has_obd = false,
   .has_lin = false,
+  .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
   .init = pedal_init,

diff --git a/board/boards/red.h b/board/boards/red.h
@@ -179,6 +179,7 @@ const board board_red = {
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
+  .has_canfd = true,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
   .init = red_init,

diff --git a/board/boards/red_v2.h b/board/boards/red_v2.h
@@ -122,6 +122,7 @@ const board board_red_v2 = {
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
+  .has_canfd = true,
   .has_rtc_battery = true,
   .fan_max_rpm = 0U,
   .init = red_v2_init,

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -251,6 +251,7 @@ const board board_uno = {
   .has_hw_gmlan = false,
   .has_obd = true,
   .has_lin = false,
+  .has_canfd = false,
   .has_rtc_battery = true,
   .fan_max_rpm = 5100U,
   .init = uno_init,

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -243,6 +243,7 @@ const board board_white = {
   .has_hw_gmlan = true,
   .has_obd = false,
   .has_lin = true,
+  .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
   .init = white_init,

diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -168,6 +168,9 @@ bus_config_t bus_config[] = {
 void can_init_all(void) {
   bool ret = true;
   for (uint8_t i=0U; i < CAN_CNT; i++) {
+    if (!current_board->has_canfd) {
+      bus_config[i].can_data_speed = 0U;
+    }
     can_clear(can_queues[i]);
     ret &= can_init(i);
   }

diff --git a/board/main_comms.h b/board/main_comms.h
@@ -538,7 +538,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xde: set CAN FD data bitrate
     case 0xf9:
-      if (req->param1 < CAN_CNT) {
+      if ((req->param1 < CAN_CNT) && current_board->has_canfd) {
         // TODO: add sanity check, ideally check if value is correct (from array of correct values)
         bus_config[req->param1].can_data_speed = req->param2;
         bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed);