sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 64 Packages Projects Releases Wiki Activity

Merge panda subtree

Browse Source
pull/6/head
Vehicle Researcher 8 years ago
parent 36bef17224 96f8e5158e
commit b68f3f7781
14 changed files with 155 additions and 58 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      panda/VERSION
  2. 4
      panda/board/build.mk
  3. 10
      panda/board/drivers/drivers.h
  4. 85
      panda/board/drivers/uart.h
  5. 6
      panda/board/gpio.h
  6. 24
      panda/board/main.c
  7. 6
      panda/board/safety.h
  8. 4
      panda/board/safety/safety_defaults.h
  9. 2
      panda/board/safety/safety_elm327.h
  10. 2
      panda/board/safety/safety_honda.h
  11. 13
      panda/board/safety/safety_toyota.h
  12. 40
      panda/examples/isotp.py
  13. 14
      panda/python/__init__.py
  14. 1
      panda/tests/location_listener.py

2
panda/VERSION
Unescape View File

@ -1 +1 @@
v1.0.4
v1.0.6

4
panda/board/build.mk
Unescape View File

@ -17,7 +17,7 @@ DFU_UTIL = "dfu-util"
# this no longer pushes the bootstub
flash: obj/$(PROJ_NAME).bin
PYTHONPATH=../ python -c "from panda import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
PYTHONPATH=../ python -c "from python import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
ota: obj/$(PROJ_NAME).bin
curl http://192.168.0.10/stupdate --upload-file $<
@ -26,7 +26,7 @@ bin: obj/$(PROJ_NAME).bin
# this flashes everything
recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
-PYTHONPATH=../ python -c "from panda import Panda; Panda().reset(enter_bootloader=True)"
-PYTHONPATH=../ python -c "from python import Panda; Panda().reset(enter_bootloader=True)"
sleep 1.0
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin

10
panda/board/drivers/drivers.h
Unescape View File

@ -57,13 +57,13 @@ void usb_cb_enumeration_complete();
// ********************* UART *********************
// IRQs: USART1, USART2, USART3, UART5
#define FIFO_SIZE 0x100
#define FIFO_SIZE 0x400
typedef struct uart_ring {
uint8_t w_ptr_tx;
uint8_t r_ptr_tx;
uint16_t w_ptr_tx;
uint16_t r_ptr_tx;
uint8_t elems_tx[FIFO_SIZE];
uint8_t w_ptr_rx;
uint8_t r_ptr_rx;
uint16_t w_ptr_rx;
uint16_t r_ptr_rx;
uint8_t elems_rx[FIFO_SIZE];
USART_TypeDef *uart;
void (*callback)(struct uart_ring*);

85
panda/board/drivers/uart.h
Unescape View File

@ -52,7 +52,7 @@ void uart_ring_process(uart_ring *q) {
if (q->w_ptr_tx != q->r_ptr_tx) {
if (sr & USART_SR_TXE) {
q->uart->DR = q->elems_tx[q->r_ptr_tx];
q->r_ptr_tx += 1;
q->r_ptr_tx = (q->r_ptr_tx + 1) % FIFO_SIZE;
} else {
// push on interrupt later
q->uart->CR1 |= USART_CR1_TXEIE;
@ -64,11 +64,13 @@ void uart_ring_process(uart_ring *q) {
if (sr & USART_SR_RXNE || sr & USART_SR_ORE) {
uint8_t c = q->uart->DR; // TODO: can drop packets
uint8_t next_w_ptr = q->w_ptr_rx + 1;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = c;
q->w_ptr_rx = next_w_ptr;
if (q->callback) q->callback(q);
if (q != &esp_ring) {
uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = c;
q->w_ptr_rx = next_w_ptr;
if (q->callback) q->callback(q);
}
}
}
@ -92,7 +94,7 @@ int getc(uart_ring *q, char *elem) {
enter_critical_section();
if (q->w_ptr_rx != q->r_ptr_rx) {
*elem = q->elems_rx[q->r_ptr_rx];
q->r_ptr_rx += 1;
q->r_ptr_rx = (q->r_ptr_rx + 1) % FIFO_SIZE;
ret = 1;
}
exit_critical_section();
@ -102,10 +104,10 @@ int getc(uart_ring *q, char *elem) {
int injectc(uart_ring *q, char elem) {
int ret = 0;
uint8_t next_w_ptr;
uint16_t next_w_ptr;
enter_critical_section();
next_w_ptr = q->w_ptr_rx + 1;
next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = elem;
q->w_ptr_rx = next_w_ptr;
@ -118,10 +120,10 @@ int injectc(uart_ring *q, char elem) {
int putc(uart_ring *q, char elem) {
int ret = 0;
uint8_t next_w_ptr;
uint16_t next_w_ptr;
enter_critical_section();
next_w_ptr = q->w_ptr_tx + 1;
next_w_ptr = (q->w_ptr_tx + 1) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_tx) {
q->elems_tx[q->w_ptr_tx] = elem;
q->w_ptr_tx = next_w_ptr;
@ -159,6 +161,51 @@ void uart_set_baud(USART_TypeDef *u, int baud) {
}
}
#define USART1_DMA_LEN 0x20
char usart1_dma[USART1_DMA_LEN];
void uart_dma_drain() {
uart_ring *q = &esp_ring;
enter_critical_section();
if (DMA2->HISR & DMA_HISR_TCIF5 || DMA2->HISR & DMA_HISR_HTIF5 || DMA2_Stream5->NDTR != USART1_DMA_LEN) {
// disable DMA
q->uart->CR3 &= ~USART_CR3_DMAR;
DMA2_Stream5->CR &= ~DMA_SxCR_EN;
while (DMA2_Stream5->CR & DMA_SxCR_EN);
int i;
for (i = 0; i < USART1_DMA_LEN - DMA2_Stream5->NDTR; i++) {
char c = usart1_dma[i];
uint16_t next_w_ptr = (q->w_ptr_rx + 1) % FIFO_SIZE;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = c;
q->w_ptr_rx = next_w_ptr;
}
}
// reset DMA len
DMA2_Stream5->NDTR = USART1_DMA_LEN;
// clear interrupts
DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
//DMA2->HIFCR = DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5;
// enable DMA
DMA2_Stream5->CR |= DMA_SxCR_EN;
q->uart->CR3 |= USART_CR3_DMAR;
}
exit_critical_section();
}
void DMA2_Stream5_IRQHandler(void) {
//set_led(LED_BLUE, 1);
uart_dma_drain();
//set_led(LED_BLUE, 0);
}
void uart_init(USART_TypeDef *u, int baud) {
// enable uart and tx+rx mode
u->CR1 = USART_CR1_UE;
@ -170,9 +217,23 @@ void uart_init(USART_TypeDef *u, int baud) {
// ** UART is ready to work **
// enable interrupts
u->CR1 |= USART_CR1_RXNEIE;
if (u != USART1) {
u->CR1 |= USART_CR1_RXNEIE;
}
if (u == USART1) {
// DMA2, stream 2, channel 3
DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
DMA2_Stream5->NDTR = USART1_DMA_LEN;
DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);
// channel4, increment memory, periph -> memory, enable
DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_HTIE | DMA_SxCR_TCIE | DMA_SxCR_EN;
// this one uses DMA receiver
u->CR3 = USART_CR3_DMAR;
NVIC_EnableIRQ(DMA2_Stream5_IRQn);
NVIC_EnableIRQ(USART1_IRQn);
} else if (u == USART2) {
NVIC_EnableIRQ(USART2_IRQn);

6
panda/board/gpio.h
Unescape View File

@ -15,6 +15,7 @@ int has_external_debug_serial = 0;
int is_giant_panda = 0;
int is_entering_bootmode = 0;
int revision = PANDA_REV_AB;
int is_grey_panda = 0;
int detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
set_gpio_mode(GPIO, pin, MODE_INPUT);
@ -45,9 +46,14 @@ void detect() {
// check if the ESP is trying to put me in boot mode
is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
// check if it's a grey panda by seeing if the SPI lines are floating
// TODO: is this reliable?
is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
#else
// need to do this for early detect
is_giant_panda = 0;
is_grey_panda = 0;
revision = PANDA_REV_AB;
is_entering_bootmode = 0;
#endif

24
panda/board/main.c
Unescape View File

@ -175,6 +175,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
puts(" err: "); puth(can_err_cnt);
puts("\n");
break;
// **** 0xc1: is grey panda
case 0xc1:
resp[0] = is_grey_panda;
resp_len = 1;
break;
// **** 0xd0: fetch serial number
case 0xd0:
#ifdef PANDA
@ -229,6 +234,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
case 0xd9:
if (setup->b.wValue.w == 1) {
set_esp_mode(ESP_ENABLED);
} else if (setup->b.wValue.w == 2) {
set_esp_mode(ESP_BOOTMODE);
} else {
set_esp_mode(ESP_DISABLED);
}
@ -267,7 +274,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
// and it's blocked over WiFi
// Allow ELM security mode to be set over wifi.
if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) {
safety_set_mode(setup->b.wValue.w);
safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
switch (setup->b.wValue.w) {
case SAFETY_NOOUTPUT:
can_silent = ALL_CAN_SILENT;
@ -304,6 +311,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) break;
if (ur == &esp_ring) uart_dma_drain();
// read
while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
getc(ur, (char*)&resp[resp_len])) {
@ -489,6 +497,7 @@ int main() {
#endif
puts(has_external_debug_serial ? " real serial\n" : " USB serial\n");
puts(is_giant_panda ? " GIANTpanda detected\n" : " not GIANTpanda\n");
puts(is_grey_panda ? " gray panda detected!\n" : " white panda\n");
puts(is_entering_bootmode ? " ESP wants bootmode\n" : " no bootmode\n");
gpio_init();
@ -500,9 +509,12 @@ int main() {
}
#ifdef PANDA
// enable ESP uart
uart_init(USART1, 115200);
if (is_grey_panda) {
uart_init(USART1, 9600);
} else {
// enable ESP uart
uart_init(USART1, 115200);
}
// enable LIN
uart_init(UART5, 10400);
UART5->CR2 |= USART_CR2_LINEN;
@ -522,7 +534,7 @@ int main() {
usb_init();
// default to silent mode to prevent issues with Ford
safety_set_mode(SAFETY_NOOUTPUT);
safety_set_mode(SAFETY_NOOUTPUT, 0);
can_silent = ALL_CAN_SILENT;
can_init_all();
@ -552,6 +564,8 @@ int main() {
for (cnt=0;;cnt++) {
can_live = pending_can_live;
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
#ifdef PANDA
int current = adc_get(ADCCHAN_CURRENT);

6
panda/board/safety.h
Unescape View File

@ -2,7 +2,7 @@ void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
typedef void (*safety_hook_init)();
typedef void (*safety_hook_init)(int16_t param);
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
@ -60,11 +60,11 @@ const safety_hook_config safety_hook_registry[] = {
#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
int safety_set_mode(uint16_t mode) {
int safety_set_mode(uint16_t mode, int16_t param) {
for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
if (safety_hook_registry[i].id == mode) {
current_hooks = safety_hook_registry[i].hooks;
if (current_hooks->init) current_hooks->init();
if (current_hooks->init) current_hooks->init(param);
return 0;
}
}

4
panda/board/safety/safety_defaults.h
Unescape View File

@ -2,7 +2,7 @@ void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
// *** no output safety mode ***
static void nooutput_init() {
static void nooutput_init(int16_t param) {
controls_allowed = 0;
}
@ -23,7 +23,7 @@ const safety_hooks nooutput_hooks = {
// *** all output safety mode ***
static void alloutput_init() {
static void alloutput_init(int16_t param) {
controls_allowed = 1;
}

2
panda/board/safety/safety_elm327.h
Unescape View File

@ -27,7 +27,7 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return true;
}
static void elm327_init() {
static void elm327_init(int16_t param) {
controls_allowed = 1;
}

2
panda/board/safety/safety_honda.h
Unescape View File

@ -115,7 +115,7 @@ static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return true;
}
static void honda_init() {
static void honda_init(int16_t param) {
controls_allowed = 0;
}

13
panda/board/safety/safety_toyota.h
Unescape View File

@ -9,7 +9,7 @@ const int32_t MAX_TORQUE = 1500; // max torque cmd allowed ever
// packet is sent at 100hz, so this limit is 1000/sec
const int32_t MAX_RATE_UP = 10; // ramp up slow
const int32_t MAX_RATE_DOWN = 25; // ramp down fast
const int32_t MAX_TORQUE_ERROR = 500; // max torque cmd in excess of torque motor
const int32_t MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
@ -22,6 +22,7 @@ const int16_t MIN_ACCEL = -3000; // 3.0 m/s2
// global actuation limit state
int actuation_limits = 1; // by default steer limits are imposed
int16_t dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
// state of torque limits
int16_t desired_torque_last = 0; // last desired steer torque
@ -31,10 +32,10 @@ uint32_t ts_last = 0;
static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get eps motor torque (0.66 factor in dbc)
if ((to_push->RIR>>21) == 0x260) {
int16_t torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
// increase torque_meas by 1 to be conservative on rounding
torque_meas_new = (torque_meas_new / 3 + (torque_meas_new > 0 ? 1 : -1)) * 2;
torque_meas_new = (torque_meas_new * dbc_eps_torque_factor / 100) + (torque_meas_new > 0 ? 1 : -1);
// shift the array
for (int i = sizeof(torque_meas)/sizeof(torque_meas[0]) - 1; i > 0; i--) {
@ -154,9 +155,10 @@ static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return true;
}
static void toyota_init() {
static void toyota_init(int16_t param) {
controls_allowed = 0;
actuation_limits = 1;
dbc_eps_torque_factor = param;
}
const safety_hooks toyota_hooks = {
@ -166,9 +168,10 @@ const safety_hooks toyota_hooks = {
.tx_lin = toyota_tx_lin_hook,
};
static void toyota_nolimits_init() {
static void toyota_nolimits_init(int16_t param) {
controls_allowed = 0;
actuation_limits = 0;
dbc_eps_torque_factor = param;
}
const safety_hooks toyota_nolimits_hooks = {

40
panda/examples/isotp.py
Unescape View File

@ -9,7 +9,27 @@ def msg(x):
assert False
return ret.ljust(8, "\x00")
def isotp_send(panda, x, addr, bus=0):
kmsgs = []
def recv(panda, cnt, addr, nbus):
global kmsgs
ret = []
while len(ret) < cnt:
kmsgs += panda.can_recv()
nmsgs = []
for ids, ts, dat, bus in kmsgs:
if ids == addr and bus == nbus and len(ret) < cnt:
ret.append(dat)
else:
# leave around
nmsgs.append((ids, ts, dat, bus))
kmsgs = nmsgs[-256:]
return map(str, ret)
def isotp_send(panda, x, addr, bus=0, recvaddr=None):
if recvaddr is None:
recvaddr = addr+8
if len(x) <= 7:
panda.can_send(addr, msg(x), bus)
else:
@ -24,25 +44,9 @@ def isotp_send(panda, x, addr, bus=0):
# actually send
panda.can_send(addr, ss, bus)
rr = recv(panda, 1, addr+8, bus)[0]
rr = recv(panda, 1, recvaddr, bus)[0]
panda.can_send_many([(addr, None, s, 0) for s in sends])
kmsgs = []
def recv(panda, cnt, addr, nbus):
global kmsgs
ret = []
while len(ret) < cnt:
kmsgs += panda.can_recv()
nmsgs = []
for ids, ts, dat, bus in kmsgs:
if ids == addr and bus == nbus and len(ret) < cnt:
ret.append(dat)
else:
pass
kmsgs = nmsgs
return map(str, ret)
def isotp_recv(panda, addr, bus=0, sendaddr=None):
msg = recv(panda, 1, addr, bus)[0]

14
panda/python/__init__.py
Unescape View File

@ -18,6 +18,8 @@ __version__ = '0.0.6'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
# *** wifi mode ***
def build_st(target, mkfile="Makefile"):
@ -34,7 +36,10 @@ def parse_can_buffer(dat):
address = f1 >> 3
else:
address = f1 >> 21
ret.append((address, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xFF))
dddat = ddat[8:8+(f2&0xF)]
if DEBUG:
print(" R %x: %s" % (address, str(dddat).encode("hex")))
ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
return ret
class PandaWifiStreaming(object):
@ -369,6 +374,8 @@ class Panda(object):
extended = 4
for addr, _, dat, bus in arr:
assert len(dat) <= 8
if DEBUG:
print(" W %x: %s" % (addr, dat.encode("hex")))
if addr >= 0x800:
rir = (addr << 3) | transmit | extended
else:
@ -425,7 +432,10 @@ class Panda(object):
return b''.join(ret)
def serial_write(self, port_number, ln):
return self._handle.bulkWrite(2, struct.pack("B", port_number) + ln)
ret = 0
for i in range(0, len(ln), 0x20):
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i+0x20])
return ret
def serial_clear(self, port_number):
"""Clears all messages (tx and rx) from the specified internal uart

1
panda/tests/location_listener.py
Unescape View File

@ -27,7 +27,6 @@ if __name__ == "__main__":
print ser.read(1024)
# upping baud rate
# 460800 has issues
baudrate = 460800
print "upping baud rate"

Write Preview
Loading…
Cancel
Save