WIP: op compatibility mode
parent
60936e46e6
commit
d527579b41
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@ -235,6 +235,7 @@ bool send = 0;
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#define ACC_CTRL 0xF10
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#define ACC_CTRL 0xF10
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#define ACC_CTRL_OP 0x343
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#define ACC_CTRL_OP 0x343
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bool enable_acc = 0;
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bool enable_acc = 0;
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bool op_ctrl_mode = 0;
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int acc_cmd = 0;
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int acc_cmd = 0;
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#define AEB_CTRL 0xF11
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#define AEB_CTRL 0xF11
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@ -284,6 +285,9 @@ void CAN1_RX0_IRQ_Handler(void) {
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}
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}
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break;
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break;
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case ACC_CTRL_OP: // hack to allow the firmware to support stock OP
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case ACC_CTRL_OP: // hack to allow the firmware to support stock OP
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to_fwd.RIR &= 0xFFFFFFFE; // do not fwd
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op_ctrl_mode = 1;
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break;
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case ACC_CTRL:
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case ACC_CTRL:
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// send this EXACTLY how ACC_CONTROL is sent
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// send this EXACTLY how ACC_CONTROL is sent
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for (int i=0; i<8; i++) {
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for (int i=0; i<8; i++) {
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@ -388,6 +392,11 @@ void CAN3_RX0_IRQ_Handler(void) {
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switch (address) {
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switch (address) {
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case DSU_ACC_CONTROL: // ACC_CTRL
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case DSU_ACC_CONTROL: // ACC_CTRL
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if (op_ctrl_mode){
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to_fwd.RIR &= 0xFFFFFFFE; // do not fwd
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// op_ctrl_mode = 0;
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// for now, just set this flag until the next reboot
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} else {
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for (int i=0; i<8; i++) {
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for (int i=0; i<8; i++) {
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dat[i] = GET_BYTE(&CAN3->sFIFOMailBox[0], i);
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dat[i] = GET_BYTE(&CAN3->sFIFOMailBox[0], i);
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}
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}
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@ -421,6 +430,7 @@ void CAN3_RX0_IRQ_Handler(void) {
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puts("\n");
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puts("\n");
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#endif
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#endif
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}
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}
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}
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break;
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break;
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case DSU_AEB_CMD: // AEB BRAKING
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case DSU_AEB_CMD: // AEB BRAKING
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for (int i=0; i<8; i++) {
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for (int i=0; i<8; i++) {
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