support extended addressing in canbitbang

commaai · Jun 11, 2018 · ed2920c · ed2920c
1 parent 36df099
commit ed2920c
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Showing 2 changed files with 22 additions and 7 deletions.
diff --git a/board/drivers/canbitbang.h b/board/drivers/canbitbang.h
@@ -1,4 +1,4 @@
-#define MAX_BITS_CAN_PACKET (64+44+25)
+#define MAX_BITS_CAN_PACKET (200)
 
 // returns out_len
 int do_bitstuff(char *out, char *in, int in_len) {
@@ -71,8 +71,19 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   // test packet
   int dlc_len = to_bang->RDTR & 0xF;
   len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-  len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
+
+  if (to_bang->RIR & 4) {
+    // extended identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 3, 2);    // SRR+IDE
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
+  } else {
+    // standard identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
+  }
+
   len = append_int(pkt, len, dlc_len, 4);    // Data length code
 
   // append data

diff --git a/tests/gmbitbang/test.py b/tests/gmbitbang/test.py
@@ -2,8 +2,8 @@
 import time
 from panda import Panda
 
-p1 = Panda('430026000951363338383037')
-p2 = Panda('380016000551363338383037')
+p1 = Panda('380016000551363338383037')
+p2 = Panda('430026000951363338383037')
 
 # this is a test, no safety
 p1.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@@ -17,11 +17,15 @@
 p2.set_gmlan(bus=2)
 
 # send w bitbang then without
+#iden = 123
+iden = 18000
+#dat = "\x01\x02"
+dat = "\x01\x02\x03\x04\x05\x06\x07\x08"
 while 1:
   p1.set_gmlan(bus=None)
-  p1.can_send(123, "\x01\x02\x03\x04\x05\x06\x07\x08", bus=3)
+  p1.can_send(iden, dat, bus=3)
   p1.set_gmlan(bus=2)
-  p1.can_send(123, "\x01\x02\x03\x04\x05\x06\x07\x08", bus=3)
+  p1.can_send(iden, dat, bus=3)
   time.sleep(0.01)
   print p2.can_recv()
   exit(0)