CAN health packet: add speed and canfd info (commaai#1071)

in
budney · Sep 17, 2022 · 59ede3f · 59ede3f
1 parent 046fd58
commit 59ede3f
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Showing 3 changed files with 15 additions and 3 deletions.
diff --git a/board/can_health.h b/board/can_health.h
@@ -1,5 +1,5 @@
 // When changing this struct, python/__init__.py needs to be kept up to date!
-#define CAN_HEALTH_PACKET_VERSION 1
+#define CAN_HEALTH_PACKET_VERSION 2
 typedef struct __attribute__((packed)) {
   uint8_t bus_off;
   uint32_t bus_off_cnt;
@@ -17,4 +17,8 @@ typedef struct __attribute__((packed)) {
   uint32_t total_tx_cnt;
   uint32_t total_rx_cnt;
   uint32_t total_fwd_cnt; // Messages forwarded from one bus to another
+  uint16_t can_speed;
+  uint16_t can_data_speed;
+  uint8_t canfd_enabled;
+  uint8_t brs_enabled;
 } can_health_t;
diff --git a/board/main_comms.h b/board/main_comms.h
@@ -251,6 +251,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xc2:
       COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE);
       if (req->param1 < 3U) {
+        can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U);
+        can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
+        can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;
+        can_health[req->param1].brs_enabled = bus_config[req->param1].brs_enabled;
         resp_len = sizeof(can_health[req->param1]);
         (void)memcpy(resp, &can_health[req->param1], resp_len);
       }

diff --git a/python/__init__.py b/python/__init__.py
@@ -186,9 +186,9 @@ class Panda:
 
   CAN_PACKET_VERSION = 2
   HEALTH_PACKET_VERSION = 10
-  CAN_HEALTH_PACKET_VERSION = 1
+  CAN_HEALTH_PACKET_VERSION = 2
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfB")
-  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIII")
+  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
 
   F2_DEVICES = (HW_TYPE_PEDAL, )
   F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -503,6 +503,10 @@ def can_health(self, can_number):
       "total_tx_cnt": a[13],
       "total_rx_cnt": a[14],
       "total_fwd_cnt": a[15],
+      "can_speed": a[16],
+      "can_data_speed": a[17],
+      "canfd_enabled": a[18],
+      "brs_enabled": a[19],
     }
 
   # ******************* control *******************