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fix GMLAN bad toggle issue

master
Firmware Batman 2017-08-13 01:28:23 +01:00
parent 790e820819
commit f832f34413
2 changed files with 34 additions and 5 deletions
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6
board/drivers/can.h
View File

@ -193,7 +193,7 @@ void can_init_all() {
}
void can_set_gmlan(int bus) {
if (bus == -1) {
if (bus == -1 || bus != can_num_lookup[3]) {
// GMLAN OFF
switch (can_num_lookup[3]) {
case 1:
@ -213,7 +213,9 @@ void can_set_gmlan(int bus) {
can_init(2);
break;
}
} else if (bus == 1) {
}
if (bus == 1) {
puts("GMLAN on CAN2\n");
// GMLAN on CAN2
set_can_mode(1, 1);

33
tests/automated/2_usb_to_can.py
View File

@ -6,6 +6,9 @@ from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
from helpers import time_many_sends, connect_wo_esp
SPEED_NORMAL = 500
SPEED_GMLAN = 33.3
def test_can_loopback():
p = connect_wo_esp()
@ -129,9 +132,6 @@ def test_gmlan():
# enable CAN loopback mode
p.set_can_loopback(True)
SPEED_NORMAL = 500
SPEED_GMLAN = 33.3
p.set_can_speed_kbps(1, SPEED_NORMAL)
p.set_can_speed_kbps(2, SPEED_NORMAL)
p.set_can_speed_kbps(3, SPEED_GMLAN)
@ -150,6 +150,33 @@ def test_gmlan():
print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
def test_gmlan_bad_toggle():
p = connect_wo_esp()
if p.legacy:
return
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
# GMLAN_CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
comp_kbps_gmlan = time_many_sends(p, 3)
assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
# normal
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(None)
comp_kbps_normal = time_many_sends(p, bus)
assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
# this will fail if you have hardware serial connected
def test_serial_debug():
p = connect_wo_esp()