misc CAN FD fixes (commaai#856)

Co-authored-by: Comma Device <device@comma.ai>
budney · Feb 21, 2022 · 9d27011 · 9d27011
1 parent 0e79ab3
commit 9d27011
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/board/usb_comms.h b/board/usb_comms.h
@@ -440,10 +440,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
     // **** 0xde: set CAN FD data bitrate
     case 0xf9:
       if (setup->b.wValue.w < CAN_CNT) {
-        // TODO: add sanity check, ideally check if value is correct(from array of correct values)
+        // TODO: add sanity check, ideally check if value is correct (from array of correct values)
         bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
-        bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
-        bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
+        bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed);
+        bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed);
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
         UNUSED(ret);
       }

diff --git a/python/__init__.py b/python/__init__.py
@@ -163,9 +163,9 @@ class Panda(object):
   HEALTH_PACKET_VERSION = 3
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
 
-  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]
-  H7_DEVICES = [HW_TYPE_RED_PANDA]
+  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)
+  H7_DEVICES = (HW_TYPE_RED_PANDA, )
 
   CLOCK_SOURCE_MODE_DISABLED = 0
   CLOCK_SOURCE_MODE_FREE_RUNNING = 1
@@ -448,7 +448,7 @@ def has_obd(self):
     return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
 
   def has_canfd(self):
-    return self._mcu_type in Panda.H7_DEVICES
+    return self.get_type() in Panda.H7_DEVICES
 
   def is_internal(self):
     return self.get_type() in [Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS]
@@ -511,7 +511,7 @@ def set_can_speed_kbps(self, bus, speed):
   def set_can_data_speed_kbps(self, bus, speed):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
 
-    # CAN FD and BRS status
+  # CAN FD and BRS status
   def get_canfd_status(self, bus):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
     if dat: