Vehicle Researcher
6 years ago
commit
113d4c1b70
25 changed files with 476 additions and 456 deletions
@ -1 +0,0 @@ |
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obj/* |
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@ -1,58 +0,0 @@ |
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# :set noet
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PROJ_NAME = comma
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CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
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CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
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CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
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CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
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CFLAGS += -T../stm32_flash.ld
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STARTUP_FILE = startup_stm32f205xx
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CC = arm-none-eabi-gcc
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OBJCOPY = arm-none-eabi-objcopy
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OBJDUMP = arm-none-eabi-objdump
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DFU_UTIL = "dfu-util"
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# pedal only uses the debug cert
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CERT = ../../certs/debug
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CFLAGS += "-DALLOW_DEBUG"
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canflash: obj/$(PROJ_NAME).bin |
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../../tests/pedal/enter_canloader.py $<
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usbflash: obj/$(PROJ_NAME).bin |
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../../tests/pedal/enter_canloader.py; sleep 0.5
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PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
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recover: obj/bootstub.bin obj/$(PROJ_NAME).bin |
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../../tests/pedal/enter_canloader.py --recover; sleep 0.5
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$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
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$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
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obj/main.o: main.c ../*.h |
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mkdir -p obj
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/bootstub.o: ../bootstub.c ../*.h |
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mkdir -p obj
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s |
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/%.o: ../../crypto/%.c |
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$(CC) $(CFLAGS) -o $@ -c $<
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obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o |
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# hack
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$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
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$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
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SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
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obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o |
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$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
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$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
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clean: |
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rm -f obj/*
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@ -1,30 +0,0 @@ |
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MOVE ALL FILES TO board/pedal TO FLASH |
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This is the firmware for the comma pedal. It borrows a lot from panda. |
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The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal. |
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This is the open source software. Note that it is not ready to use yet. |
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== Test Plan == |
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* Startup |
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** Confirm STATE_FAULT_STARTUP |
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* Timeout |
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** Send value |
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** Confirm value is output |
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** Stop sending messages |
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** Confirm value is passthru after 100ms |
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** Confirm STATE_FAULT_TIMEOUT |
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* Random values |
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** Send random 6 byte messages |
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** Confirm random values cause passthru |
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** Confirm STATE_FAULT_BAD_CHECKSUM |
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* Same message lockout |
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** Send same message repeated |
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** Confirm timeout behavior |
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* Don't set enable |
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** Confirm no output |
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* Set enable and values |
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** Confirm output |
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@ -1,291 +0,0 @@ |
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//#define DEBUG
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//#define CAN_LOOPBACK_MODE
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//#define USE_INTERNAL_OSC
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#include "../config.h" |
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#include "drivers/drivers.h" |
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#include "drivers/llgpio.h" |
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#include "gpio.h" |
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#define CUSTOM_CAN_INTERRUPTS |
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#include "libc.h" |
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#include "safety.h" |
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#include "drivers/adc.h" |
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#include "drivers/uart.h" |
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#include "drivers/dac.h" |
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#include "drivers/can.h" |
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#include "drivers/timer.h" |
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#define CAN CAN1 |
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//#define PEDAL_USB
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#ifdef PEDAL_USB |
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#include "drivers/usb.h" |
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#endif |
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef |
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uint32_t enter_bootloader_mode; |
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void __initialize_hardware_early() { |
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early(); |
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} |
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// ********************* serial debugging *********************
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void debug_ring_callback(uart_ring *ring) { |
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char rcv; |
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while (getc(ring, &rcv)) { |
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putc(ring, rcv); |
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} |
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} |
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#ifdef PEDAL_USB |
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int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; } |
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void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {} |
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void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {} |
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void usb_cb_enumeration_complete() {} |
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) { |
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int resp_len = 0; |
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uart_ring *ur = NULL; |
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switch (setup->b.bRequest) { |
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// **** 0xe0: uart read
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case 0xe0: |
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ur = get_ring_by_number(setup->b.wValue.w); |
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if (!ur) break; |
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if (ur == &esp_ring) uart_dma_drain(); |
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// read
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while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) && |
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getc(ur, (char*)&resp[resp_len])) { |
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++resp_len; |
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} |
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break; |
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} |
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return resp_len; |
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} |
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#endif |
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// ***************************** toyota can checksum ****************************
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int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr) |
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{ |
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uint8_t checksum = 0; |
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checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1; |
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//uint16_t temp_msg = msg;
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for (int ii = 0; ii < len; ii++) |
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{ |
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checksum += (dat[ii]); |
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//temp_msg = temp_msg >> 8;
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} |
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//return ((msg & ~0xFF) & (checksum & 0xFF));
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return checksum; |
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} |
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// ***************************** can port *****************************
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// addresses to be used on CAN
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#define CAN_GAS_INPUT 0x200 |
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#define CAN_GAS_OUTPUT 0x201 |
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void CAN1_TX_IRQHandler() { |
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// clear interrupt
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CAN->TSR |= CAN_TSR_RQCP0; |
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} |
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// two independent values
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uint16_t gas_set_0 = 0; |
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uint16_t gas_set_1 = 0; |
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#define MAX_TIMEOUT 10 |
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uint32_t timeout = 0; |
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#define NO_FAULT 0 |
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#define FAULT_BAD_CHECKSUM 1 |
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#define FAULT_SEND 2 |
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#define FAULT_SCE 3 |
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#define FAULT_STARTUP 4 |
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#define FAULT_TIMEOUT 5 |
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#define FAULT_INVALID 6 |
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uint8_t state = FAULT_STARTUP; |
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void CAN1_RX0_IRQHandler() { |
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while (CAN->RF0R & CAN_RF0R_FMP0) { |
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#ifdef DEBUG |
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puts("CAN RX\n"); |
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#endif |
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uint32_t address = CAN->sFIFOMailBox[0].RIR>>21; |
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if (address == CAN_GAS_INPUT) { |
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// softloader entry
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if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) { |
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if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) { |
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; |
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NVIC_SystemReset(); |
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} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) { |
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC; |
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NVIC_SystemReset(); |
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} |
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} |
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// normal packet
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uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR; |
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uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR; |
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uint16_t value_0 = (dat[0] << 8) | dat[1]; |
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uint16_t value_1 = (dat[2] << 8) | dat[3]; |
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uint8_t enable = (dat2[0] >> 7) & 1; |
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uint8_t index = 0; |
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if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) { |
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if (index == 0) { |
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#ifdef DEBUG |
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puts("setting gas "); |
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puth(value); |
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puts("\n"); |
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#endif |
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if (enable) { |
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gas_set_0 = value_0; |
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gas_set_1 = value_1; |
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} else { |
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// clear the fault state if values are 0
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if (value_0 == 0 && value_1 == 0) { |
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state = NO_FAULT; |
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} else { |
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state = FAULT_INVALID; |
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} |
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gas_set_0 = gas_set_1 = 0; |
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} |
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// clear the timeout
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timeout = 0; |
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} |
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} else { |
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// wrong checksum = fault
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state = FAULT_BAD_CHECKSUM; |
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} |
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} |
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// next
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CAN->RF0R |= CAN_RF0R_RFOM0; |
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} |
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} |
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void CAN1_SCE_IRQHandler() { |
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state = FAULT_SCE; |
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can_sce(CAN); |
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} |
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int pdl0 = 0, pdl1 = 0; |
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int led_value = 0; |
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void TIM3_IRQHandler() { |
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#ifdef DEBUG |
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puth(TIM3->CNT); |
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puts(" "); |
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puth(pdl0); |
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puts(" "); |
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puth(pdl1); |
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puts("\n"); |
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#endif |
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// check timer for sending the user pedal and clearing the CAN
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if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) { |
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uint8_t dat[8]; |
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dat[0] = (pdl0>>8)&0xFF; |
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dat[1] = (pdl0>>0)&0xFF; |
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dat[2] = (pdl1>>8)&0xFF; |
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dat[3] = (pdl1>>0)&0xFF; |
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dat[4] = state; |
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dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT); |
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CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24); |
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CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8); |
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CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
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CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1; |
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} else { |
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// old can packet hasn't sent!
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state = FAULT_SEND; |
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#ifdef DEBUG |
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puts("CAN MISS\n"); |
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#endif |
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} |
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// blink the LED
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set_led(LED_GREEN, led_value); |
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led_value = !led_value; |
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TIM3->SR = 0; |
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// up timeout for gas set
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if (timeout == MAX_TIMEOUT) { |
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state = FAULT_TIMEOUT; |
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} else { |
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timeout += 1; |
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} |
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} |
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// ***************************** main code *****************************
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void pedal() { |
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// read/write
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pdl0 = adc_get(ADCCHAN_ACCEL0); |
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pdl1 = adc_get(ADCCHAN_ACCEL1); |
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// write the pedal to the DAC
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if (state == NO_FAULT) { |
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dac_set(0, max(gas_set_0, pdl0)); |
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dac_set(1, max(gas_set_1, pdl1)); |
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} else { |
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dac_set(0, pdl0); |
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dac_set(1, pdl1); |
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} |
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// feed the watchdog
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IWDG->KR = 0xAAAA; |
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} |
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int main() { |
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__disable_irq(); |
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// init devices
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clock_init(); |
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periph_init(); |
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gpio_init(); |
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#ifdef PEDAL_USB |
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// enable USB
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usb_init(); |
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#endif |
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// pedal stuff
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dac_init(); |
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adc_init(); |
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// init can
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can_silent = ALL_CAN_LIVE; |
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can_init(0); |
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// 48mhz / 65536 ~= 732
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timer_init(TIM3, 15); |
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NVIC_EnableIRQ(TIM3_IRQn); |
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// setup watchdog
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IWDG->KR = 0x5555; |
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IWDG->PR = 0; // divider /4
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// 0 = 0.125 ms, let's have a 50ms watchdog
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IWDG->RLR = 400 - 1; |
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IWDG->KR = 0xCCCC; |
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puts("**** INTERRUPTS ON ****\n"); |
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__enable_irq(); |
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// main pedal loop
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while (1) { |
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pedal(); |
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} |
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return 0; |
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} |
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@ -1,18 +1,20 @@ |
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ifeq ($(RELEASE),1) |
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BUILD_TYPE = "RELEASE"
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BUILD_TYPE = "RELEASE"
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else |
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BUILD_TYPE = "DEBUG"
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BUILD_TYPE = "DEBUG"
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endif |
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ifneq ($(wildcard ../.git/HEAD),) |
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obj/gitversion.h: ../VERSION ../.git/HEAD ../.git/index |
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echo "const uint8_t gitversion[] = \"$(shell cat ../VERSION)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
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SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
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ifneq ($(wildcard $(SELF_DIR)/../.git/HEAD),) |
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obj/gitversion.h: $(SELF_DIR)/../VERSION $(SELF_DIR)/../.git/HEAD $(SELF_DIR)/../.git/index |
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echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
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else |
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ifneq ($(wildcard ../../.git/modules/panda/HEAD),) |
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obj/gitversion.h: ../VERSION ../../.git/modules/panda/HEAD ../../.git/modules/panda/index |
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echo "const uint8_t gitversion[] = \"$(shell cat ../VERSION)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
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ifneq ($(wildcard $(SELF_DIR)/../../.git/modules/panda/HEAD),) |
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obj/gitversion.h: $(SELF_DIR)/../VERSION $(SELF_DIR)/../../.git/modules/panda/HEAD $(SELF_DIR)/../../.git/modules/panda/index |
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echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-$(shell git rev-parse --short=8 HEAD)-$(BUILD_TYPE)\";" > $@
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else |
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obj/gitversion.h: ../VERSION |
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echo "const uint8_t gitversion[] = \"$(shell cat ../VERSION)-unknown-$(BUILD_TYPE)\";" > $@
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obj/gitversion.h: $(SELF_DIR)/../VERSION |
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echo "const uint8_t gitversion[] = \"$(shell cat $(SELF_DIR)/../VERSION)-$(BUILDER)-unknown-$(BUILD_TYPE)\";" > $@
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endif |
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endif |
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@ -0,0 +1,170 @@ |
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#!/usr/bin/env python2 |
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import unittest |
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import numpy as np |
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import libpandasafety_py |
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MAX_RATE_UP = 50 |
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MAX_RATE_DOWN = 70 |
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MAX_STEER = 2047 |
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MAX_RT_DELTA = 940 |
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RT_INTERVAL = 250000 |
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DRIVER_TORQUE_ALLOWANCE = 60; |
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DRIVER_TORQUE_FACTOR = 10; |
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def twos_comp(val, bits): |
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if val >= 0: |
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return val |
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else: |
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return (2**bits) + val |
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def sign(a): |
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if a > 0: |
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return 1 |
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else: |
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return -1 |
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class TestSubaruSafety(unittest.TestCase): |
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@classmethod |
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def setUp(cls): |
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cls.safety = libpandasafety_py.libpandasafety |
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cls.safety.nooutput_init(0) |
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cls.safety.init_tests_subaru() |
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def _set_prev_torque(self, t): |
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self.safety.set_subaru_desired_torque_last(t) |
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self.safety.set_subaru_rt_torque_last(t) |
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def _torque_driver_msg(self, torque): |
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') |
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to_send[0].RIR = 0x119 << 21 |
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t = twos_comp(torque, 11) |
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to_send[0].RDLR = ((t & 0x7FF) << 16) |
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return to_send |
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def _torque_msg(self, torque): |
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') |
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to_send[0].RIR = 0x122 << 21 |
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t = twos_comp(torque, 13) |
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to_send[0].RDLR = (t << 16) |
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return to_send |
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def test_default_controls_not_allowed(self): |
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self.assertFalse(self.safety.get_controls_allowed()) |
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def test_enable_control_allowed_from_cruise(self): |
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to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') |
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to_push[0].RIR = 0x240 << 21 |
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to_push[0].RDHR = 1 << 9 |
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self.safety.subaru_rx_hook(to_push) |
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self.assertTrue(self.safety.get_controls_allowed()) |
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def test_disable_control_allowed_from_cruise(self): |
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to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') |
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to_push[0].RIR = 0x240 << 21 |
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to_push[0].RDHR = 0 |
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self.safety.set_controls_allowed(1) |
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self.safety.subaru_rx_hook(to_push) |
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self.assertFalse(self.safety.get_controls_allowed()) |
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def test_steer_safety_check(self): |
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for enabled in [0, 1]: |
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for t in range(-3000, 3000): |
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self.safety.set_controls_allowed(enabled) |
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self._set_prev_torque(t) |
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if abs(t) > MAX_STEER or (not enabled and abs(t) > 0): |
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self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(t))) |
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else: |
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self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(t))) |
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|
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def test_manually_enable_controls_allowed(self): |
||||
self.safety.set_controls_allowed(1) |
||||
self.assertTrue(self.safety.get_controls_allowed()) |
||||
self.safety.set_controls_allowed(0) |
||||
self.assertFalse(self.safety.get_controls_allowed()) |
||||
|
||||
def test_non_realtime_limit_up(self): |
||||
self.safety.set_subaru_torque_driver(0, 0) |
||||
self.safety.set_controls_allowed(True) |
||||
|
||||
self._set_prev_torque(0) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(MAX_RATE_UP))) |
||||
self._set_prev_torque(0) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(-MAX_RATE_UP))) |
||||
|
||||
self._set_prev_torque(0) |
||||
self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(MAX_RATE_UP + 1))) |
||||
self.safety.set_controls_allowed(True) |
||||
self._set_prev_torque(0) |
||||
self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(-MAX_RATE_UP - 1))) |
||||
|
||||
def test_non_realtime_limit_down(self): |
||||
self.safety.set_subaru_torque_driver(0, 0) |
||||
self.safety.set_controls_allowed(True) |
||||
|
||||
def test_against_torque_driver(self): |
||||
self.safety.set_controls_allowed(True) |
||||
|
||||
for sign in [-1, 1]: |
||||
for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1): |
||||
t *= -sign |
||||
self.safety.set_subaru_torque_driver(t, t) |
||||
self._set_prev_torque(MAX_STEER * sign) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(MAX_STEER * sign))) |
||||
|
||||
self.safety.set_subaru_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1) |
||||
self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(-MAX_STEER))) |
||||
|
||||
# spot check some individual cases |
||||
for sign in [-1, 1]: |
||||
driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign |
||||
torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign |
||||
delta = 1 * sign |
||||
self._set_prev_torque(torque_desired) |
||||
self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(torque_desired))) |
||||
self._set_prev_torque(torque_desired + delta) |
||||
self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque) |
||||
self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(torque_desired + delta))) |
||||
|
||||
self._set_prev_torque(MAX_STEER * sign) |
||||
self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign))) |
||||
self._set_prev_torque(MAX_STEER * sign) |
||||
self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(0))) |
||||
self._set_prev_torque(MAX_STEER * sign) |
||||
self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) |
||||
self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign))) |
||||
|
||||
|
||||
def test_realtime_limits(self): |
||||
self.safety.set_controls_allowed(True) |
||||
|
||||
for sign in [-1, 1]: |
||||
self.safety.init_tests_subaru() |
||||
self._set_prev_torque(0) |
||||
self.safety.set_subaru_torque_driver(0, 0) |
||||
for t in np.arange(0, MAX_RT_DELTA, 1): |
||||
t *= sign |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(t))) |
||||
self.assertFalse(self.safety.subaru_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) |
||||
|
||||
self._set_prev_torque(0) |
||||
for t in np.arange(0, MAX_RT_DELTA, 1): |
||||
t *= sign |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(t))) |
||||
|
||||
# Increase timer to update rt_torque_last |
||||
self.safety.set_timer(RT_INTERVAL + 1) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1)))) |
||||
self.assertTrue(self.safety.subaru_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) |
||||
|
||||
|
||||
if __name__ == "__main__": |
||||
unittest.main() |
||||
@ -0,0 +1,21 @@ |
||||
#!/usr/bin/env python2 |
||||
|
||||
# This trims CAN message CSV files to just the messages relevant for Panda testing. |
||||
# Usage: |
||||
# cat input.csv | ./trim_csv.py > output.csv |
||||
import fileinput |
||||
|
||||
addr_to_keep = [544, 0x1f4, 0x292] # For Chrysler, update to the addresses that matter for you. |
||||
|
||||
for line in fileinput.input(): |
||||
line = line.strip() |
||||
cols = line.split(',') |
||||
if len(cols) != 4: |
||||
continue # malformed, such as at the end or every 60s. |
||||
(_, addr, bus, _) = cols |
||||
if (addr == 'addr'): |
||||
continue |
||||
if (int(bus) == 128): # Keep all messages sent by OpenPilot. |
||||
print line |
||||
elif (int(addr) in addr_to_keep): |
||||
print line |
||||
Loading…
Reference in new issue