diag logging (#21360)

* rat

* log max power

* cloudlog

* no print

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 1da3ab42dc

SConstruct

@@ -410,6 +410,9 @@ SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
+if arch == "aarch64":
+  SConscript(['selfdrive/hardware/eon/SConscript'])
+
 if arch != "Darwin":
   SConscript(['selfdrive/logcatd/SConscript'])
 

selfdrive/hardware/.gitignore

@@ -0,0 +1 @@
+eon/rat

selfdrive/hardware/eon/SConscript

@@ -0,0 +1,5 @@
+Import('env', 'common')
+
+lenv = env.Clone()
+lenv["CCFLAGS"] = [f for f in env["CCFLAGS"] if f != "-Wunused"]
+lenv.Program('rat', ['rat.cc'], LIBS=[common, 'diag', 'time_genoff', 'zmq'])

selfdrive/hardware/eon/libdiag.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+extern "C" {
+
+#define DIAG_MAX_RX_PKT_SIZ 4096
+
+bool Diag_LSM_Init(uint8_t* pIEnv);
+bool Diag_LSM_DeInit(void);
+
+// DCI
+
+#define DIAG_CON_APSS 0x001
+#define DIAG_CON_MPSS 0x002
+#define DIAG_CON_LPASS 0x004
+#define DIAG_CON_WCNSS 0x008
+
+enum {
+  DIAG_DCI_NO_ERROR = 1001,
+} diag_dci_error_type;
+
+int diag_register_dci_client(int*, uint16_t*, int, void*);
+int diag_log_stream_config(int client_id, int set_mask, uint16_t log_codes_array[], int num_codes);
+int diag_register_dci_stream(void (*func_ptr_logs)(unsigned char *ptr, int len), void (*func_ptr_events)(unsigned char *ptr, int len));
+int diag_release_dci_client(int*);
+
+int diag_send_dci_async_req(int client_id, unsigned char buf[], int bytes, unsigned char *rsp_ptr, int rsp_len,
+                            void (*func_ptr)(unsigned char *ptr, int len, void *data_ptr), void *data_ptr);
+
+
+}

selfdrive/hardware/eon/rat.cc

@@ -0,0 +1,183 @@
+#include <semaphore.h>
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+#include <map>
+
+#include "json11.hpp"
+
+#include "libdiag.h"
+#include "selfdrive/common/swaglog.h"
+
+
+#define DIAG_NV_READ_F 38
+#define DIAG_NV_WRITE_F 39
+
+#define DIAG_SUBSYS_CMD 75
+#define DIAG_SUBSYS_CMD_VER_2 128
+
+#define DIAG_SUBSYS_FS 19
+
+#define EFS2_DIAG_SYNC_NO_WAIT 48
+
+
+struct __attribute__((packed)) NvPacket {
+  uint8_t cmd_code;
+  uint16_t nv_id;
+  uint8_t data[128];
+  uint16_t status;
+};
+
+
+enum NvStatus {
+  NV_DONE,
+  NV_BUSY,
+  NV_FULL,
+  NV_FAIL,
+  NV_NOTACTIVE,
+  NV_BADPARAM,
+  NV_READONLY,
+  NV_BADRG,
+  NV_NOMEM,
+  NV_NOTALLOC,
+};
+
+struct __attribute__((packed)) Efs2DiagSyncReq {
+  uint8_t cmd_code;
+  uint8_t subsys_id;
+  uint16_t subsys_cmd_code;
+  uint16_t sequence_num;
+  char path[8];
+};
+
+struct __attribute__((packed)) Efs2DiagSyncResp {
+  uint8_t cmd_code;
+  uint8_t subsys_id;
+  uint16_t subsys_cmd_code;
+  uint16_t sequence_num;
+  uint32_t sync_token;
+  int32_t diag_errno;
+};
+
+
+struct SendDiagSyncState {
+  sem_t sem;
+  int len;
+};
+
+static void diag_send_sync_cb(unsigned char *ptr, int len, void *data_ptr) {
+  SendDiagSyncState *s = (SendDiagSyncState*)data_ptr;
+  s->len = len;
+  sem_post(&s->sem);
+}
+
+static int diag_send_sync(int client_id, unsigned char* req_pkt, size_t pkt_len,
+                           unsigned char* res_pkt, size_t res_pkt_size) {
+
+  SendDiagSyncState s = {0};
+  sem_init(&s.sem, 0, 0);
+
+  int err = diag_send_dci_async_req(client_id, req_pkt, pkt_len, res_pkt, res_pkt_size,
+                                    diag_send_sync_cb, &s);
+  assert(err == DIAG_DCI_NO_ERROR);
+
+  sem_wait(&s.sem);
+  return s.len;
+}
+
+static void efs_sync(int client_id) {
+  unsigned char res_pkt[DIAG_MAX_RX_PKT_SIZ];
+
+  Efs2DiagSyncReq req_pkt = {
+    .cmd_code = DIAG_SUBSYS_CMD,
+    .subsys_id = DIAG_SUBSYS_FS,
+    .subsys_cmd_code = EFS2_DIAG_SYNC_NO_WAIT,
+    .sequence_num = (uint16_t)(rand() % 100),
+  };
+  req_pkt.path[0] = '/';
+  req_pkt.path[1] = 0;
+
+  int res_len = diag_send_sync(client_id, (unsigned char*)&req_pkt, sizeof(req_pkt),
+                                res_pkt, sizeof(res_pkt));
+  Efs2DiagSyncResp *resp = (Efs2DiagSyncResp*)res_pkt;
+
+  if (res_len != sizeof(Efs2DiagSyncResp)
+      || resp->cmd_code != DIAG_SUBSYS_CMD
+      || resp->subsys_id != DIAG_SUBSYS_FS
+      || resp->subsys_cmd_code != EFS2_DIAG_SYNC_NO_WAIT) {
+    LOGW("efs_sync: bad response!");
+    return;
+  }
+  if (resp->diag_errno != 0) {
+    LOGW("efs_sync: error %d", resp->diag_errno);
+  }
+}
+
+static int nv_read(int client_id, uint16_t nv_id, NvPacket &resp) {
+  NvPacket req = {
+    .cmd_code = DIAG_NV_READ_F,
+    .nv_id = nv_id,
+  };
+
+  int res_len = diag_send_sync(client_id, (unsigned char*)&req, sizeof(req),
+                               (unsigned char*)&resp, sizeof(resp));
+
+  // hexdump((uint8_t*)&resp, res_len);
+
+  if (resp.cmd_code != DIAG_NV_READ_F || resp.nv_id != nv_id) {
+    LOGW("nv_read: diag command failed");
+    return -1;
+  }
+
+  if (resp.status != NV_DONE) {
+    LOGW("nv_read: read failed: %d", resp.status);
+    return -1;
+  }
+  return 0;
+}
+
+static uint32_t nv_read_u32(int client_id, uint16_t nv_id) {
+  NvPacket resp = {0};
+  if (nv_read(client_id, nv_id, resp) < 0) {
+    return 0;
+  }
+  return *(uint32_t*)resp.data;
+}
+
+
+
+int main() {
+  int err;
+  int client_id = 0;
+
+  // setup diag
+  bool ok = Diag_LSM_Init(NULL);
+  assert(ok);
+
+  uint16_t list = DIAG_CON_APSS | DIAG_CON_MPSS;
+  int signal_type = SIGCONT;
+  err = diag_register_dci_client(&client_id, &list, 0, &signal_type);
+  assert(err == DIAG_DCI_NO_ERROR);
+
+  // log some stuff
+  std::map<std::string, uint16_t> to_log = {
+    {"B13", 6502},
+    {"B7", 6553},
+    {"B17", 6606},
+    {"B40", 6658},
+    {"B1", 6710},
+  };
+  auto log = json11::Json::object {};
+  for (auto const &kv : to_log) {
+    NvPacket resp = {0};
+    nv_read(client_id, kv.second, resp);
+    log[kv.first] = *(uint8_t*)resp.data;
+  }
+
+  printf("%s\n", json11::Json(log).dump().c_str());
+
+  // cleanup
+  err = diag_release_dci_client(&client_id);
+  assert(err == DIAG_DCI_NO_ERROR);
+  Diag_LSM_DeInit();
+}

selfdrive/thermald/thermald.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import datetime
+import json
 import os
+import subprocess
 import time
 from pathlib import Path
 from typing import Dict, Optional, Tuple
@@ -10,6 +12,7 @@ from smbus2 import SMBus
 
 import cereal.messaging as messaging
 from cereal import log
+from common.basedir import BASEDIR
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import clip, interp
 from common.params import Params, ParamKeyType
@@ -189,6 +192,15 @@ def thermald_thread():
           pass
     cloudlog.event("CPR", data=cpr_data)
 
+    # modem logging
+    try:
+      binpath = os.path.join(BASEDIR, "selfdrive/hardware/eon/rat")
+      out = subprocess.check_output([binpath], encoding='utf8').strip()
+      dat = json.loads(out.splitlines()[1])
+      cloudlog.event("NV data", data=dat)
+    except Exception:
+      pass
+
   while 1:
     pandaState = messaging.recv_sock(pandaState_sock, wait=True)
     msg = read_thermal(thermal_config)