jungle: add debug mode with generated CAN traffic (commaai#1966)

samehmohamed88 · Jun 4, 2024 · fec68d0 · fec68d0
1 parent 59d5be9
commit fec68d0
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Showing 3 changed files with 27 additions and 1 deletion.
diff --git a/board/jungle/__init__.py b/board/jungle/__init__.py
@@ -148,6 +148,9 @@ def set_ignition(self, enabled):
   def set_can_silent(self, silent):
     self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xf5, int(silent), 0, b'')
 
+  def set_generated_can(self, enabled):
+    self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa4, int(enabled), 0, b'')
+
   # ******************* serial *******************
 
   def debug_read(self):

diff --git a/board/jungle/main.c b/board/jungle/main.c
@@ -52,6 +52,23 @@ uint32_t loop_counter = 0U;
 uint16_t button_press_cnt = 0U;
 void tick_handler(void) {
   if (TICK_TIMER->SR != 0) {
+    if (generated_can_traffic) {
+      // queue up messages
+      for (uint16_t i = 0U; i < 100U; i++) {
+        CANPacket_t to_send;
+        to_send.returned = 0U;
+        to_send.rejected = 0U;
+        to_send.extended = 0U;
+        to_send.addr = 0x200U + i;
+        to_send.bus = i % 3U;
+        to_send.data_len_code = 8U;
+        (void)memcpy(to_send.data, "\xff\xff\xff\xff\xff\xff\xff\xff", dlc_to_len[to_send.data_len_code]);
+        can_set_checksum(&to_send);
+
+        can_send(&to_send, to_send.bus, true);
+      }
+    }
+
     // tick drivers at 8Hz
     usb_tick();
 

diff --git a/board/jungle/main_comms.h b/board/jungle/main_comms.h
@@ -1,5 +1,7 @@
 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
 
+bool generated_can_traffic = false;
+
 int get_jungle_health_pkt(void *dat) {
   COMPILE_TIME_ASSERT(sizeof(struct jungle_health_t) <= USBPACKET_MAX_SIZE);
   struct jungle_health_t * health = (struct jungle_health_t*)dat;
@@ -58,10 +60,14 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xa2:
       current_board->set_ignition((req->param1 == 1U));
       break;
-    // **** 0xa0: Set panda power per channel by bitmask.
+    // **** 0xa3: Set panda power per channel by bitmask.
     case 0xa3:
       current_board->set_panda_individual_power(req->param1, (req->param2 > 0U));
       break;
+    // **** 0xa4: Enable generated CAN traffic.
+    case 0xa4:
+      generated_can_traffic = (req->param2 > 0U);
+      break;
     // **** 0xa8: get microsecond timer
     case 0xa8:
       time = microsecond_timer_get();